bbox_to_tf.launch

<launch>
    <!-- base_frame_name -->
    <arg name="node_name"          default="bbox_to_tf"/>

    <!-- base_frame_name -->
    <arg name="base_frame_name"          default="base_footprint"/>

    <!-- Topic name (sobits_msgs/BoundingBoxes) -->
    <arg name="bbox_topic_name"          default="/ulfg_face_detect/faces_rect"/>

    <!-- Topic name (sensor_msgs/PointCloud2) -->
    <arg name="cloud_topic_name"         default="/points2"/>

    <!-- Topic name (sensor_msgs/Image) -->
    <arg name="img_topic_name"           default="/rgb/image_raw"/>

    <!-- ON/OFF (bool) -->
    <arg name="execute_default"          default="true"/>

    <!-- same point cloud range -->
    <arg name="cluster_tolerance"        default="0.008"/>

    <!-- clustering point cloud lower number of pieces -->
    <arg name="min_clusterSize"          default="10"/>

    <!-- clustering point cloud upper number of pieces -->
    <arg name="max_lusterSize"           default="2000000"/>

    <!-- limiter of object point cloud cut noise -->
    <arg name="noise_point_cloud_range"          default="0.01"/>

    <node pkg="bbox_to_tf" type="bbox_to_tf" name="$(arg node_name)" output="screen" respawn="false">
        <param name="base_frame_name"          value="$(arg base_frame_name)" />
        <param name="bbox_topic_name"          value="$(arg bbox_topic_name)" />
        <param name="cloud_topic_name"         value="$(arg cloud_topic_name)" />
        <param name="img_topic_name"           value="$(arg img_topic_name)" />
        <param name="execute_default"          value="$(arg execute_default)" />
        <param name="cluster_tolerance"        value="$(arg cluster_tolerance)" />
        <param name="min_clusterSize"          value="$(arg min_clusterSize)"/>
        <param name="max_lusterSize"           value="$(arg max_lusterSize)"/>
        <param name="noise_point_cloud_range"  value="$(arg noise_point_cloud_range)"/>
    </node>

    <arg name="rviz"                    default="false"/>
    <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find bbox_to_tf)/config/bbox_to_tf.rviz"/>
</launch>